Related papers: SDF-Pack: Towards Compact Bin Packing with Signed-…
Scene Completion is the task of completing missing geometry from a partial scan of a scene. Most previous methods compute an implicit representation from range data using a Truncated Signed Distance Function (T-SDF) computed on a 3D grid as…
Manipulation in cluttered environments is challenging due to spatial dependencies among objects, where an improper manipulation order can cause collisions or blocked access. Existing approaches often overlook these spatial relationships,…
Solving storage problem: where objects must be accurately placed into containers with precise orientations and positions, presents a distinct challenge that extends beyond traditional rearrangement tasks. These challenges are primarily due…
With the rapid development of the warehousing and logistics industries, the packing of goods has gradually attracted the attention of academia and industry. The packing of footwear products is a typical representative paired-item packing…
Computer graphics, 3D computer vision and robotics communities have produced multiple approaches to representing 3D geometry for rendering and reconstruction. These provide trade-offs across fidelity, efficiency and compression…
This paper introduces a comprehensive planning and navigation framework that address these limitations by integrating semantic mapping, adaptive coverage planning, dynamic obstacle avoidance and precise trajectory tracking. Our framework…
Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…
Collage and packing techniques are widely used to organize geometric shapes into cohesive visual representations, facilitating the representation of visual features holistically, as seen in image collages and word clouds. Traditional…
Sampling-based algorithms are widely used for motion planning in high-dimensional configuration spaces. However, due to low sampling efficiency, their performance often diminishes in complex configuration spaces with narrow corridors.…
Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…
This paper proposes a novel bin picking framework, two-stage grasping, aiming at precise grasping of cluttered small objects. Object density estimation and rough grasping are conducted in the first stage. Fine segmentation, detection,…
We present our method for transferring style from any arbitrary image(s) to object(s) within a 3D scene. Our primary objective is to offer more control in 3D scene stylization, facilitating the creation of customizable and stylized scene…
We consider the problem of tracking the 6D pose of a moving RGB-D camera in a neural scene representation. Different such representations have recently emerged, and we investigate the suitability of them for the task of camera tracking. In…
In the classic circle packing problem, one asks whether a given set of circles can be packed into a given container. Packing problems like this have been shown to be $\mathsf{NP}$-hard. In this paper, we present new sufficient conditions…
We propose a model for optimizing the last-mile delivery of n packages, from a distribution center to their final recipients, using a strategy that combines the use of ride-sharing platforms (e.g., Uber or Lyft) with traditional in-house…
Implicit Neural Representations have gained prominence as a powerful framework for capturing complex data modalities, encompassing a wide range from 3D shapes to images and audio. Within the realm of 3D shape representation, Neural Signed…
This paper tackles the problem of finding optimal variable-height transport packaging. The goal is to reduce the empty space left in a box when shipping goods to customers, thereby saving on filler and reducing waste. We cast this problem…
We present a method for performing tasks involving spatial relations between novel object instances initialized in arbitrary poses directly from point cloud observations. Our framework provides a scalable way for specifying new tasks using…
We propose a method to interpolate Signed Distance Function (SDF) data from a discrete set of samples. Unlike prior work, our approach ensures that the new SDF data values are fully consistent with the input and each other, such that the…
We propose an algorithm to reconstruct explicit polygonal meshes from discretely sampled Signed Distance Function (SDF) data, which is especially effective at recovering sharp features. Building on the traditional Dual Contouring of Hermite…